Underwater electromechanical wrist turning and clamping drive structure

A driving structure and mechanical technology, applied in the direction of manipulator, program-controlled manipulator, mechanical equipment, etc., to achieve the effect of compact structure, stable transmission and large clamping force

Active Publication Date: 2015-06-03
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The drive structure solves the problem of clamp motor wiring and win

Method used

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  • Underwater electromechanical wrist turning and clamping drive structure
  • Underwater electromechanical wrist turning and clamping drive structure
  • Underwater electromechanical wrist turning and clamping drive structure

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Embodiment Construction

[0017] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0018] like figure 1 , Figure 2A , Figure 2B and image 3 As shown, the present invention includes a wrist-rotating drive module for realizing the wrist-rotating function of an underwater electric manipulator, a clamp driving module and a joint housing for realizing the clamp function of an underwater electric manipulator, and the wrist-rotating driving module and the clamp driving module are respectively housed in inside the joint housing. The joint housing includes a bearing cover 7 , a joint housing segment A 8 , a joint housing segment B 10 , a joint housing C segment 11 , a joint housing D segment 14 , and a joint housing rear end cover 15 which are sequentially fixed.

[0019] The wrist drive module includes a wrist motor and a reduction box assembly 1, a first shaft 3, a transmission device and a second shaft 6, wherein the transmission device in...

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Abstract

The invention belongs to the field of underwater manipulators of robot engineering and particularly relates to an underwater electromechanical wrist turning and clamping drive structure. The underwater electromechanical wrist turning and clamping drive structure comprises a wrist turning drive module for achieving an underwater electromechanical wrist turning function, a clamping drive module for achieving an underwater electromechanical wrist clamping function and a joint housing, wherein the wrist turning drive module and the clamping drive module are accommodated in the joint housing respectively. The wrist turning drive module uses gear transmission. The clamping drive module uses ball screw transmission. A second shaft of the wrist turning module is of a hollow structure, a ball screw nut connecting rod for driving a clamp can penetrate through the second shaft of the wrist turning module, and the wrist turning module and the clamping module can be integrated into the joint housing and avoid mutual interference to achieve two functions of an underwater electromechanical arm. The underwater electromechanical wrist turning and clamping drive structure has the advantages of being reliable in performance, compact in structure, easy to maintain and debug and the like.

Description

technical field [0001] The invention belongs to the field of underwater manipulators in robot engineering, in particular to an underwater electric mechanical wrist-turning clamp driving structure. Background technique [0002] The underwater manipulator is the main tool for marine development or underwater operations, and it is oriented to the application requirements of future operating AUV (autonomous underwater robot) / ARV (semi-autonomous underwater robot) and small and medium-sized operating ROV (remote control underwater robot) , The underwater manipulator is required to have the characteristics of light weight and low power consumption. The motor drive has the advantages of small volume and weight, low power consumption, high control precision, and the full-sea deep operation can be realized through the pressure compensator. Therefore, the motor-driven underwater manipulator has broad application prospects. [0003] At present, the underwater electromechanical wrist r...

Claims

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Application Information

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IPC IPC(8): B25J9/12B25J17/00F16H1/04
Inventor 张奇峰范云龙张竺英
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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